Knowledge Commons of Institute of Automation,CAS
Research on the implementation of average speed for a bionic robotic dolphin | |
Ren Guang1; Dai Yaping1; Cao Zhiqiang2; Shen Fei3 | |
发表期刊 | ROBOTICS AND AUTONOMOUS SYSTEMS |
2015-12-01 | |
卷号 | 74页码:184-194 |
文章类型 | Article |
摘要 | This study proposes an average propulsive speed implementation approach for robotic dolphins theoretically and experimentally. First, it analyzes the motion feature of the robotic dolphin, and finds the strictly corresponding rule between tail's oscillating frequency and propulsive speed of robotic dolphin. A kinetic energy mapping coefficient (KEMC) is defined to extract the motion feature. Then, it establishes a kinematic feature equation based on the KEMC definition. The feature equation takes the KEMC as a feature data, and describes a kinetic energy mapping relation for robotic dolphin's motion. Furthermore, by applying the feature equation and KEMC data, it designs an iterative learning identification and adaptive control solution to adjust automatically the average propulsive speed. Simulations prove the system's convergence and speed adjustment effectiveness. Experiments have been performed in two steps. One, a series of KEMC values are identified through the offline identification, and the distribution of KEMCs is partially known; second, a closed loop control experiment reaches the expected speed target. This study shows that the average speed implementation method based KEMC converts the speed control issue into one kind of pure control problem, and it helps robotic dolphin obtain learning ability and adaptive ability. (C) 2015 Elsevier B.V. All rights reserved. |
关键词 | Robotic Dolphin Kemc Average Speed Iterative Learning Identification Adaptive Control |
WOS标题词 | Science & Technology ; Technology |
DOI | 10.1016/j.robot.2015.07.014 |
关键词[WOS] | FISH ; SIMULATIONS ; DYNAMICS ; DESIGN |
收录类别 | SCI |
语种 | 英语 |
WOS研究方向 | Automation & Control Systems ; Computer Science ; Robotics |
WOS类目 | Automation & Control Systems ; Computer Science, Artificial Intelligence ; Robotics |
WOS记录号 | WOS:000366070700016 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/10526 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
作者单位 | 1.Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China |
推荐引用方式 GB/T 7714 | Ren Guang,Dai Yaping,Cao Zhiqiang,et al. Research on the implementation of average speed for a bionic robotic dolphin[J]. ROBOTICS AND AUTONOMOUS SYSTEMS,2015,74:184-194. |
APA | Ren Guang,Dai Yaping,Cao Zhiqiang,&Shen Fei.(2015).Research on the implementation of average speed for a bionic robotic dolphin.ROBOTICS AND AUTONOMOUS SYSTEMS,74,184-194. |
MLA | Ren Guang,et al."Research on the implementation of average speed for a bionic robotic dolphin".ROBOTICS AND AUTONOMOUS SYSTEMS 74(2015):184-194. |
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2015-Research on the(1107KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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